TWM626742U - Testing system with sensing feedback - Google Patents

Abstract

A test system with sensory feedback is suitable for working with a robotic arm attached with a test object. The testing system includes a server and a force sensor mounted on the robotic arm. The server controls the robotic arm to drive the object to be tested to move, so that the object to be tested can contact a test platform, and the force sensor detects at least one reaction force on the object to be tested to generate a sensing feedback signal to the server. When the reaction force in a corresponding direction indicated by the sensing feedback signal does not conform to a force setting value associated with this direction, the server adjusts the degree to which the robot arm drives the object to be tested relative to the test platform in this direction, so that the corresponding The reaction force in this direction corresponds to this force setting. In this way, the resistance of the object to be tested on the test platform can be automatically maintained in a preset setting.

Description

Test System with Perceptual Feedback

The present creation relates to a test system, especially to a test system with perceptual feedback.

Most of the existing testing mechanisms for shoe soles use a testing machine to test the characteristics of the sole to be tested (such as but not limited to abrasion resistance, toughness or structural strength, etc.) by repeatedly pressing, beating, pulling or rubbing the sole to be tested. However, this traditional testing method is not designed to imitate the actual use conditions of the user, so it is relatively impossible to test the characteristics of the sole to be tested in actual use.

In order to test the characteristics of the shoe sole to be tested in actual use, another test method is proposed in the market, that is, to set the sole to be tested in a shoe sample, and let a real person directly wear the shoe sample and perform various actions. To observe the condition of the sole to be tested after a long period of actual use, to analyze the characteristics of the sole to be tested. However, this method of testing with real people not only has high personnel costs, but also takes a long time due to human limitations, and it is also prone to other force majeure factors (such as the epidemic) that cause the testing process to be interrupted or impossible to implement.

Therefore, the purpose of this creation is to provide a test system with perceptual feedback to perform high-fidelity testing, so that the motion of the object under test relative to the test platform can automatically conform to the preset settings, thereby saving labor costs and improving test efficiency.

According to an embodiment of the present invention, a test system with sensory feedback is provided, which is suitable for operating with a robotic arm, the robotic arm is attached with an object to be tested, and the test system includes a force sensor mounted on the robotic arm and a server electrically connected to the mechanical arm and the force sensor. The force sensor is used for detecting at least one reaction force on the object to be tested, so as to generate a sensing feedback signal. The server is used to: control the mechanical arm to drive the object to be tested to move according to a force setting value corresponding to a direction, so that the object to be tested can contact a test platform; receive the sensing feedback signal of the force sensor to Comparing the reaction force in the corresponding direction indicated by the sensing feedback signal with the force setting value; and when the reaction force corresponding to the direction does not meet the force setting value, adjusting the mechanical arm in the direction to drive the waiting force The degree of movement of the test object relative to the test platform so that the reaction force corresponding to the direction conforms to the force setting value.

In some embodiments, the server further controls the motion of the robotic arm according to a motion parameter sequence, the motion parameter sequence includes at least one parameter associated with the direction, when the reaction force corresponding to the direction does not meet the force setting value When , the server adjusts the at least one parameter associated with the direction, so as to adjust the degree to which the robot arm drives the object to be tested to move relative to the test platform. Or, the server adjusts the speed of the movement of the robotic arm, so as to adjust the degree to which the robotic arm drives the object to be tested to move relative to the test platform.

In some embodiments, the motion parameter sequence is used to simulate a human limb movement.

In some embodiments, the force sensor is a multi-axis force sensor.

In some embodiments, the force sensor is a 6-axis force sensor.

In some embodiments, the testing system further includes a user interface in communication with the server for presenting information related to the at least one reaction force.

In some embodiments, the testing system further includes a photographing device, the photographing device is electrically connected to the server for photographing the object to be tested, so as to generate a test image to the server, and the server the test image displayed on the user interface.

In this way, the test system provided by the present invention not only drives the object to be tested to move relative to a test platform by the robot arm, but also judges the current acting force on the object to be tested by the feedback signal provided by the force sensor Whether the expected value is reached, so as to adjust the action of the robotic arm accordingly, so that the resistance encountered by the object to be tested on the test platform will not be weakened unexpectedly over time, but can continue to conform to the preset.

Please refer to FIG. 1 to FIG. 3 , a test system 1 with perceptual feedback according to an embodiment of the present invention is suitable for simulating the state of a real person when using a test object T, and the test object T can also be used at the same time. Do test tasks. The testing system 1 mainly includes a server 10 , a robotic arm 20 , at least one force sensor 30 , a user interface 40 , an input unit 50 and a photographing device 60 . The server 10 is electrically connected with the robotic arm 20 , the force sensor 30 , the input unit 50 and the photographing device 60 , and is also connected in communication with the user interface 40 .

The robotic arm 20 can be, for example, but not limited to, a single-axis or multi-axis robotic arm, and the robotic arm 20 is detachably attached to a test object T. The server 10 controls the robotic arm 20 to adjust the posture of the object T and drive the object T to move relative to a test platform 2 . In order to briefly describe the operation of the test system 1 of the present creation, the following will use a multi-axis robotic arm as the robotic arm 20 for exemplary illustration, and the robotic arm 20 has multiple joints and multiple arms, each arm will not be telescopic, As shown in FIG. 2; however, the present invention is not limited to this, and the design of the robotic arm 20 depends on the requirements of the test task.

The force sensor 30 can be, for example, but not limited to, a multi-axis force sensor for detecting the reaction force on the object T under test. In this embodiment, one end of the force sensor 30 is connected to the robotic arm 20 , and the opposite end is connected to the object T to be tested. In order to briefly describe the operation of the test system 1 of the present creation, the following will take a six-axis force sensor as the force sensor 30 for exemplary illustration. The force sensor 30 can detect the X-axis, Y-axis and Z-axis. The translational forces Fx, Fy and Fz and the torsional forces (rotational forces or moments) Mx, My and Mz are shown in Figure 3; however, the present invention is not limited to this, the number and type of the force sensors 30 are selected depending on the Depends on the needs of the test task.

In order to execute the test task, at least one database may be pre-established in the storage unit of the server 10 for storing the program instructions, algorithms and parameters required for the operation, so that the processor of the server 10 can execute a test task. use. The information in each database can be determined according to, for example, but not limited to, the type of the DUT T and the type of the test task. The type of the object to be tested T can be, for example, but not limited to, shoes or chairs. The test tasks can be classified according to the type of the test object T, such as, but not limited to, abrasion resistance test or material strength. In order to briefly describe the operation of the test system 1 of the present creation, the following will take the sole structure of the soccer shoe as the bottom structure of the object to be tested T and the test task as the wear resistance test to demonstrate.

For the wear resistance test of the object to be tested T, the test system 1 provided in this creation can simulate the state of a real person wearing shoes with this sole structure and performing various physical actions, such as but not limited to kicking a straight ball, tackling, running fast , jogging, walking or standing, etc. At the same time, it can also test the wear resistance of the studs of the test object T with this sole structure. To this end, the above-mentioned at least one database can pre-store a plurality of motion parameters, a plurality of weight parameters, one or more motion parameter sequences associated with each motion parameter, a plurality of speed parameters, and a plurality of force preset values. Action parameters are parameters representing a preset simulated action. The weight parameter refers to the body weight of a real person who wants to wear shoes with the above-mentioned sole structure. Each motion parameter sequence is planned according to the simulated human body movement. The motion parameter sequence at least includes indices of each joint of the robotic arm 20 and each coordinate of each joint on a predetermined path of a predetermined simulated action. The speed parameter refers to the speed of the robot arm 20 when performing a preset simulation action. The preset force value refers to the reaction force expected to be obtained by the object to be tested T in one direction when the robot arm 20 drives the object to be tested T to contact the test platform 2 . Each force preset corresponds to a direction and is associated with a weight parameter, a sequence of motion parameters, and a velocity parameter. The number and type of force presets depends on the force sensor 30 chosen and the purpose of the test. In addition, the corresponding relationship between the motion parameter sequence and the motion parameter, and the corresponding relationship between the weight parameter, the motion parameter sequence, the speed parameter and the force preset value can also be pre-stored in the above-mentioned at least one database. For the convenience of description, the force preset value is a preset value corresponding to the Z-axis direction.

The user interface 40 can be displayed on a display (not shown) connected to the server 10 to present one or more parameter input fields for the tester to input parameters through the input unit 50 and present one or more sensing results The window is for the tester to view and analyze the sensing results of the sensor. The input device can be, for example, but not limited to, a keyboard, a mouse, or a touchpad integrated into the display. The manner of presenting the sensing results may be implemented, for example but not limited to, in the form of graphs or numerical values. In this embodiment or other embodiments, the user interface 40 may further present one or more test result windows for the tester to observe and judge the test results. The test result can be obtained, for example but not limited to, by using the photographing device 60 to photograph the object to be tested T to obtain a test image including the state of the sole. The test image generated by the photographing device 60 will be transmitted to the processor of the server 10 , so that the processor will display the test image in the test result window of the user interface 40 .

As an example of testing the abrasion resistance of a shoe sole by kicking a straight ball, the tester can set kicking a straight ball as a preset simulated action (ie, set action parameters) through the user interface 40 and the input unit 50 described above, set the The body weight (that is, the setting weight parameter), the speed (that is, the setting speed parameter) and the time (that is, the setting test time length) and the force value in the Z-axis direction are set as a force setting value for performing this preset simulation action. At this time, the processor of the server 10 can know the motion parameter corresponding to the preset analog action and a force preset value corresponding to the force preset value, and searches the storage unit 40 for a motion parameter sequence corresponding to the above-mentioned setting.

Then, the processor of the server 10 can control the robot arm 20 to adjust the posture of the object to be tested T and drive the object to be tested T relative to the test platform 2 according to the set speed parameters, the test time length and the searched motion parameter sequence. Move, let the bottom structure of the test object T rub the surface of the test platform 2 . At the same time, the processor of the server 10 also controls the force sensor 30 to detect six kinds of reaction forces on the object T, namely the translational force Fx in the X-axis direction, the translational force Fy in the Y-axis direction, and the Z-axis The translational force Fz in the direction, the torsion force Mx rotating around the X axis direction, the torsion force My rotating around the Y axis direction, and the torsion force Mz rotating around the Z axis direction are used to generate a sensory feedback signal.

When the processor of the server 10 receives the sensory feedback signal provided by the force sensor 30, it will compare the translation force Fz indicated by the sensory feedback signal with the previously searched force preset value to adjust the motion parameter sequence associated with At least one parameter in the Z-axis direction or the adjustment speed parameter, so as to adjust the degree to which the robot arm 20 drives the object T to move relative to the test platform 2 . For example, since the wear resistance of the studs on the sole structure of the test object T is tested under the same preset simulation action, the studs on the test object T will gradually wear out over time, so that the test object T is in the Z-axis. The resistance in the direction also gradually decreases, so that the translation force Fz in the Z-axis direction will be lower than the preset force value corresponding to the Z-axis direction; this means that under the current motion parameter sequence, the robotic arm 20 drives the object to be tested T in Z It is not enough to press the test platform 2 downward on the axis, so the processor of the server 10 can increase the mechanical arm 20 to drive the object T downward in the Z axis direction by adjusting the coordinates related to the Z axis in the motion parameter sequence. The degree of pressure applied to test platform 2.

To sum up, the test system 1 of the present invention can obtain feedback signals through the force sensor 30 to update the parameters used to control the robotic arm 20 , so that the movement of the object T relative to the test platform 2 evolves with time It can still automatically conform to the pre-set, and will not unpredictably weaken the resistance encountered by the test object T on the test platform 2 over time.

The motion parameter sequence adopted by the test system 1 of the present creation is planned by simulating the movement of a human body, so the movement of the robotic arm 20 can be close to the body movement of a real person, and the test system 1 can simulate the real person using the product to be tested T. Happening. Through such a realistic test, the characteristics of the test object T can be more realistically reflected.

In addition, the test system 1 of the present invention can display the six reaction forces indicated by the sensing feedback signal on the user interface 40, so that the tester can judge the same prediction by observing the changes of these sensing results over time. Under the simulation action and force setting value, the change of the force of the test object T is set, so as to analyze the material properties of the sole structure.

In addition, the test system 1 of the present invention can also display the test image captured by the photographing device 60 on the user interface 40, so that the tester can observe the wear of the sole structure in the test image, or automatically analyze the wear of the sole structure with the image analysis technology. wear condition.

Although the present invention is disclosed in the foregoing embodiments, these embodiments are not intended to limit the present invention. Without departing from the spirit and scope of this creation, the alterations, modifications and combinations of various implementation forms are all within the scope of patent protection of this creation. For the protection scope defined by this creation, please refer to the attached patent application scope.

1: Test system 10: Server 20: Robotic Arm 30: Force Sensor 40: User Interface 50: Input unit 60: Cameras 2: Test platform T: object to be tested Fx, Fy, Fz: translation force Mx,My,Mz: Torque

Other aspects of the present invention and its advantages will be discovered upon study of the detailed description in conjunction with the following drawings: 1 is a functional block diagram of a test system with sensory feedback according to an embodiment of the present invention; 2 is a schematic diagram of a test system with sensory feedback combining a force sensor and a DUT according to an embodiment of the present invention; and FIG. 3 is a schematic diagram of force sensing of a force sensor located on an object to be tested according to an embodiment of the present invention.

1: Test system

10: Server

20: Robotic Arm

30: Force Sensor

40: User Interface

50: Input unit

60: Cameras

Claims (8)

A test system with perceptual feedback, suitable for operating with a robotic arm, the robotic arm is attached to a test object, and the test system includes: a force sensor configured to be installed on the robotic arm to detect at least one reaction force on the object to be tested, thereby generating a sensing feedback signal; and a server, electrically connected to the robotic arm and the force sensor, for: According to a force setting value corresponding to a direction, control the mechanical arm to drive the object to be tested to move, so that the object to be tested can contact a test platform; receiving the sensing feedback signal of the force sensor, and comparing the reaction force and the force setting value in the corresponding direction indicated by the sensing feedback signal; and When the reaction force corresponding to the direction does not conform to the force setting value, adjust the degree to which the robot arm drives the object to be tested relative to the test platform in the direction, so that the reaction force corresponding to the direction conforms to the force set value. The test system with sensory feedback according to claim 1, wherein the server further controls the motion of the robotic arm according to a motion parameter sequence, the motion parameter sequence includes at least one parameter associated with the direction, when the When the reaction force does not meet the force setting value, the server adjusts the at least one parameter associated with the direction, so as to adjust the degree to which the robot arm drives the object to be tested to move relative to the test platform. The test system with sensory feedback according to claim 2, wherein the motion parameter sequence is used to simulate a human body movement. The test system with sensory feedback according to claim 1, wherein the server adjusts the speed of the motion of the robotic arm, thereby adjusting the degree to which the robotic arm drives the object to be tested relative to the test platform in the direction. The test system with sensory feedback according to claim 1, wherein the force sensor is a multi-axis force sensor. The test system with sensory feedback according to claim 1, wherein the force sensor is a 6-axis force sensor. The test system with sensory feedback according to claim 1, further comprising: a user interface, in communication with the server, for presenting information related to the at least one reaction force. The test system with sensory feedback according to claim 7, further comprising: a photographing device electrically connected to the server for photographing the object to be tested to generate a test image for the server, the server recording The test image is displayed on the user interface.

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